US 11,670,093 B2
Vehicle external environment recognition apparatus
Yasuyuki Morikami, Tokyo (JP); and Yuki Katsuno, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Aug. 19, 2021, as Appl. No. 17/406,479.
Claims priority of application No. JP2020-139344 (JP), filed on Aug. 20, 2020.
Prior Publication US 2022/0058404 A1, Feb. 24, 2022
Int. Cl. G06V 20/58 (2022.01)
CPC G06V 20/584 (2022.01) [G06V 2201/08 (2022.01)] 3 Claims
OG exemplary drawing
 
1. A vehicle external environment recognition apparatus, comprising:
a light source extraction processor configured to extract light sources from an image;
a light source pair identification processor configured to identify a first pair of light sources on a basis of positional relation of the extracted light sources;
a degree of reliability derivation processor configured to derive a degree of vehicle reliability of the first pair of light sources, the degree of vehicle reliability indicating how reliably the first pair of light sources is regarded as belonging to an identical vehicle;
a light source pair re-identification processor configured to identify, on a condition that the degree of vehicle reliability of the first pair of light sources is lower than a predetermined re-identification threshold, a second pair of light sources in vicinity of the first pair of light sources having the degree of vehicle reliability lower than the re-identification threshold; and
a vehicle identification processor configured to identify a vehicle on a basis of a position and the degree of vehicle reliability of the first pair of light sources identified by the light source pair identification processor, the second pair of light sources identified by the light source pair re-identification processor, or both.